import RPi.GPIO as GPIO
from time import sleep
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
 
def turn(LS,RS,t):
    EnaA=22
    In1A=3
    In2A=23
    EnaB=17
    In1B=22
    In2B=27
    GPIO.setmode(GPIO.BCM)
    GPIO.setwarnings(False)
    PA = 2
    PB = 3
    PC = 15
    MAP = 22
    MAN = 23
    MBP = 17
    MBN = 27
    pwmf= 100
    dc  = 20
    PR  = 18
    PL  = 21
    GPIO.setup(PA, GPIO.IN)
    GPIO.setup(PB, GPIO.IN)
    GPIO.setup(PC, GPIO.IN)
    GPIO.setup(PR, GPIO.IN)
    GPIO.setup(PL, GPIO.IN)
    GPIO.setup(MAP, GPIO.OUT)
    GPIO.setup(MAN, GPIO.OUT)
    GPIO.setup(MBP, GPIO.OUT)
    GPIO.setup(MBN, GPIO.OUT)
    pwmap=GPIO.PWM(MAP, pwmf)
    pwman=GPIO.PWM(MAN, pwmf)
    pwmbp=GPIO.PWM(MBP, pwmf)
    pwmbn=GPIO.PWM(MBN, pwmf)
    pwmap.start(0)
    pwman.start(0)
    pwmbp.start(0)
    pwmbn.start(0)
    #TURN(LS,RS,t); LS < RS for a left turn
    LS *=100
    RS *=100
    if(LS > 0):
        pwmap.start(LS)
        pwman.start(0)
    else:
        pwmap.start(0)
        pwman.start(-LS)
    if(RS > 0):
        pwmbp.start(RS)
        pwmbn.start(0)
    else:
        pwmbp.start(0)
        pwmbn.start(-RS)
    sleep(t)